csce774: Robotic Systems
Spring 2022 - University of South Carolina - Jason O'Kane
Documents and Links
- Syllabus
Details about the course format and policies.
- Dropbox
For tracking grades.
Assignments
- Course Project Guidelines
- Assignment 1
This assignment depends on material from Lectures 1-5. Due February 7 at 9:30am
- Assignment 2
This is an optional assignment based on reading and reflecting on a recent paper.
- Quiz
A short written quiz, covering the content of Lectures 9 and 10. Due May 1.
Part 1: Basics
- [2022-01-10] Lecture 1
Course format. Introduction to robotics. Basic ingredients for planning.
- [2022-01-12] Lecture 2
Discrete, deterministic planning. Planning as graph search.
- [2022-01-19] Lecture 3
Value iteration.
- [2022-01-24] Lecture 4
Prediction uncertainty. Nondeterministic value iteration.
- [2022-01-26] Lecture 5
Probabilistic value iteration. Continuous time and continuous state spaces.
- [2022-01-31] Lecture 6
Basic path planning. Configuration spaces. Combinatorial motion planning.
- [2022-02-02] Lecture 7
Sampling-based motion planning. Probabilistic roadmaps. Probabilistic completeness.
- [2022-02-07] Lecture 8
Part 2: Research
- Context
Call for presentation preferences
All of the papers
Presentation and Review Guidelines
- [2022-02-09] Presentation 1
Basak Sakcak and Steven M. LaValle. Complete path planning that simultaneously optimizes length and clearance. Presented by Tien Nguyen.
- [2022-02-14] Presentation 2
Yaron Veksler and Elon D. Rimon. Evasive navigation of an autonomous mobile robot in hostile unknown environments. Presented by Christian Turner.
- [2022-02-16] Presentation 3
Sertac Karaman and Emilio Frazzoli. Incremental sampling-based algorithms for optimal motion planning. Presented by Anzhelika Kolinko.
- [2022-02-21] Presentation 4
Felipe Felix Arias, Brian Ichter, Aleksandra Faust, and Nancy M Amato. Avoidance critical probabilistic roadmaps for motion planning in dynamic environments. Presented by Jiawei Guo.
- [2022-02-23] Presentation 5
Elod Pall, Arne Sieverling, and Oliver Brock. Contingent contact-based motion planning. Presented by Shuge Lei.
- [2022-02-28] Presentation 6
Alan Kuntz, Mengyu Fu, and Ron Alterovitz. Planning high-quality motions for concentric tube robots in point clouds via parallel sampling and optimization. Presented by Ge Song.
- [2022-03-02] Presentation 7
Chao Cao, Hongbiao Zhu, Howie Choset, and Ji Zhang. Tare: A hierarchical framework for efficiently exploring complex 3D environments. Presented by Alex Scott.
- [2022-03-14] Presentation 8
Clemens Eppner, Sebastian Hofer, Rico Jonschkowski, Roberto Martin-Martin, Arne Sieverling, Vincent Wall, and Oliver Brock. Four aspects of building robotic systems: Lessons from the Amazon picking challenge. Presented by Kausik Lakkaraju.
- [2022-03-16] Presentation 9
Michal Cap, Jean Gregoire, and Emilio Frazzoli. Provably safe and deadlock-free execution of multi-robot plans under delaying disturbances. Presented by Jiawei Guo.
- [2022-03-21] Presentation 10
Hannah Lee, James Motes, Marco Morales, and Nancy M Amato. Parallel hierarchical composition conflict-based search for optimal multi-agent pathfinding Presented by Alex Scott.
- [2022-03-23
2022-03-30] Presentation 11 Presentation 13Tom Silver, Rohan Chitnis, Joshua Tenenbaum, Leslie Pack Kaelbling, and
Tomas Lozano-Perez.
Learning symbolic operators for task and motion planning Presented by Anzhelika Kolinko.
- [2022-03-28] Presentation 12
Alphonsus Adu-Bredu, Nikhil Devraj, Pin-Han Lin, Zhen Zeng, and Odest Chadwicke Jenkins. Probabilistic inference in planning for partially observable long horizon problems. Presented by Kausik Lakkaraju.
- [2022-03-30
2022-03-23] Presentation 13 Presentation 11Clemens Eppner, Roberto Martin-Martin, and Oliver Brock. Physics-based selection of informative actions for interactive perception. Presented by Ibrahim Salman.
- [2022-04-04] Presentation 14
Andrew Messing and Seth Hutchinson. Forward chaining hierarchical partial-order planning. Presented by Tien Nguyen.
- [2022-04-06] Presentation 15
David C Conner, Hadas Kress-Gazit, Howie Choset, Alfred A Rizzi, and George J
Pappas.
Valet parking without a valet. Presented by Ibrahim Salman.
- [2022-04-11] Lecture 9
Jana Tumova, Formal methods for robot planning (Asynchronous online class.)
- [2022-04-13] Lecture 10
Steve LaValle, Rapidly exploring random topics (Asynchronous online class.)
- Quiz
A short written quiz, covering the content of Lectures 9 and 10. Due May 1.
- [2022-04-18] Presentation 16
Christopher Bradley, Adam Pacheck, Gregory Stein, Sebastian Castro, Hadas Kress-Gazit, and Nicholas Roy. Learning and Planning for Temporally Extended Tasks in Unknown Environments. Presented by Christian Turner.
- [2022-04-20] Presentation 17
Hazhar Rahmani, Dylan A. Shell, and Jason M. O'Kane. Planning to chronicle. Presented by Shuge Lei.
- [2022-04-25] Presentation 18
Rahul Shome, Daniel Nakhimovich, and Kostas E Bekris. Pushing the boundaries of asymptotic optimality in integrated task and motion planning. Presented by Ge Song.